JPH01238974A - Printing head carrier travel controller - Google Patents

Abstract

PURPOSE:To obtain a superior printing quality and to enable a high-speed printing processing by providing a motor with an optimum operation amount obtained by processing the quantity of state of a printing head carrier, etc., with an optimum feed back gain obtained on an optimum regulator side. CONSTITUTION:A printing head carrier state quantity estimation signal 7a outputted from a state quantity estimator 7 is inputted to an operation amount generator 8. The operation amount generator 8 calculates an optimum feed back gain for making a printing head carrier travel speed constant by applying an optimum regulator to a drive system consisting of a motor 10, a flexible transmitter 25, and a printing head carrier 20. In this manner, the following signals are processed to be outputted as an optimum operation amount 8a of the motor 10: a motor rotating angle signal 1a, a motor rotating angle speed signal 2a, a target speed signal 9a for the printing head carrier 20 generated from a target speed generator 9, and a printing head carrier state quantity estimation signal 7a outputted from the state quantity estimator 7.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a method for moving a print head carrier in a printer that prints serially. tt! The present invention relates to a print head movement system 0141 for printing.

[Conventional technology]

The print head carrier of a serial printer is moved by connecting a motor and the print head carrier with a flexible transmitter using a wire or belt, and converting the rotational movement of the motor into linear movement of the carrier.

However, such flexible transmitters generate vibrations due to rapid acceleration or deceleration, which degrades printing quality. Because of this, precise positioning control of the printhead carrier is required, especially when high-speed printing is performed.

11 control devices ζ larger than the conventional 1J-shaped head carrier
There is a type of EIJ-shaped head carrier that is equipped with a position calculator to measure the position of the head. There are two types of such commercial printers, one of which handles the position information of the head carrier as a printing command, and the other one of which is: Positioning is performed by reducing the speed of the print head carrier by 'vI4' based on the error between the detected position information and the target position to be printed.

(The former is JP-A-61-16880 "Printer".

The latter is published in Japanese Patent Application Laid-Open No. 60-236781 (see "Control Method of Serial Printer").

[Problem to be solved by the invention]

Decide on the print head carrier of the former printer.
ll @11 in the device, print head carrier position + ttt
−? A time lag occurs between the output time and the printing time, and the higher the speed of the print head carrier, the greater this time lag. Therefore.

When the print head carrier is in a constant speed state, accurate printing can be performed, but when the flexible transmitter is in a vibrating state, there is a problem in that a difference in print quality occurs.

In addition, the print head carrier of the serial printer of Since the vibration of the flexible transmitter is not actively controlled, it is impossible to control the position in that flexible state. There is a problem that occurs and persists.

The object of the present invention is to provide a print head carrier for a printer that does not address these problems and cause errors during printing, thereby suppressing the degraded print quality, and that can perform vortex speed printing processing without causing wasted time. There is an I/C to provide a mobile control device.

[Failure to solve the problem]

The uninvented printer print head carrier movement control device connects the motor and the print head carrier in a front link, and a first rotation angle detector 3 provided with a front 8t motor I/C.
a rotational angular velocity detector of the bow and shoulder, a 20th chord angle detector and a second rotational angular velocity detector provided on the driven side boob, and a A rotational angular velocity difference indicating the difference between one rotational angle 1g, a first rotational angular velocity signal obtained from the second degree detector, and a second rotational angular velocity 1g received from the second rotational angular velocity detector. The shape of the print head carrier is determined to be 1 ftm by manually inputting the signal and the equation of state of the drive system consisting of the motor, the flexible transmitter, and the print head carrier.
a state quantity output device that estimates state quantity estimation No. 4g and outputs the state quantity estimation signal outputted from the state quantity output device, the target speed signal outputted from the target signal generator, and the first rotation. The angle signal and the -th I! ll! 1st string angular velocity 1g
and an operated negative generator that keeps the moving speed of the print head carrier constant by outputting an optimum output signal which is processed by applying an optimum regulator rule to the small moving yarn using an optimum feedback gain. ing.

[Effect]

The print head carrier movement control @ device of the present invention detects the rotation angle difference signal and the rotation angular velocity difference signal obtained from the rotation angle detector and the 1g1 rotation angular velocity adjuster provided on the motor and the mechanical pulley, respectively. Using a state estimator, the state quantity of the print head carrier is determined from the state equation of the drive system consisting of the motor, flexible transmitter, and print head carrier. 1ffi can be determined.

Also, the condition of the print head carrier, the target signal of the motor, the rotation angle 100, and the rotation angle difference signal.

The motor is designed to keep the speed of the print head carrier constant by processing signals with excessive feedback gain so that the optimal regulator can be applied to the drive system consisting of the motor, flexible transmitter, and print head carrier determined in advance. The optimal manipulated variable for

As a result, the constant speed state of the moving print head carrier is maintained stably, and the printer can print at a predetermined digit 1 based on a print command at fixed time intervals.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIGS. 2 tal and tbl are a plan view and a side view showing the construction of the machine city of the embodiment shown in FIG. 1.

In FIG. 2, print head carrier 20 is shown.

Guide shaft 2 fixed to the frame of the printer device
3 and 24 from side to side. This movement of the print head carrier 20 is performed by converting rotational movement of the motor 100 into linear movement by a driving pulley 22, a driven pulley 21, and a flexible transmitter 25 connecting them.

and detects the rotational state of the driven one-law boolean.

Figure 1 is a schematic diagram showing the configuration of an embodiment of the present invention.

In Figure 5g1, signals 5a and 5b generated corresponding to the rotation angle and rotation angular velocity of the motor IO are manually input from the encoder 5 provided on the rotation shaft of the motor 10 to the rotation angle detector 1 and the rotation angular velocity detector 2, respectively. , rotation angle detector 1 and rotation angular velocity detector 2 convert these into a motor rotation angle number 1♂ 1a and a motor rotation angular velocity signal 2a, respectively, and output them.

Similarly, from the encoder 6 provided on the driven pulley 21,
Signal 6 generated in response to the rotation angle and the chord angle deviation
The rotation angle detector 3 and the rotation angular velocity detector 4 convert a and 6b into a driven pulley rotation angle signal 3a and a driven side 7-9 rotation circumferential velocity signal 4a, respectively, and output them.

A rotation angle difference signal 11 of the difference between the motor rotation angle signal 1a and the driven pulley rotation angle signal 3a and a motor rotation angular velocity signal 2
A rotation peripheral speed difference signal 12, which is the difference between the rotation angular velocity signal 4a and the driven pulley rotation angular velocity signal 4a, is input to the state estimator 7. The state quantity estimator 7 (details will be described later) experimentally determines the state equation of the drive system consisting of the motor 10, the flexible transmitter 25, and the print head carrier 20 in advance, and calculates the rotation angle difference manually based on this state equation. Signal 11 and rotational angular velocity difference 100 No. 1
A motor rotation angle signal 1a, a motor rotation angular velocity signal 2a, and a print state quantity estimation signal 7a generated from a target speed generator 9 are manually inputted to a manipulated variable generator 8. A manipulated variable generator 8 (details will be described later) applies an optimal regulator to a drive system consisting of a motor lO, a flexible transmitter 25, and a print head carrier 20 to maintain a constant moving speed of the print head carrier. The optimum feedback gain is determined, and thereby the motor rotation angle signal 1a, the motor rotation angular velocity signal 2a, the target speed signal 9a of the print head head carrier 20 generated from the target speed generator 9, and the state quantity estimator 7
State quantity estimation signal 7 of the printed carrier output from a
a and output as the optimum operation amount 8a of the motor 10.

FIG. 3 is a diagram showing the configuration of the state quantity estimator of the embodiment shown in FIG. 1.

As shown in FIG. 3, the state quantity estimator 7Fi, the manually generated rotation angle difference signal 11, and the rotation angular velocity difference signal 12 are set to a proportionality constant (Hx) 30 and a proportionality constant ()(2)3, respectively.
Output signals 11a and 12 processed in 1 and combined in one dimension
a, and estimate the state g33a of the print head carrier 20 using the equation of state 33 to calculate the proportionality constant ()
13) Processed in step 34 and outputs the state quantity estimation signal 7a of the print head carrier 20. The equation of state is obtained by experimentally verifying a physical model that describes the dynamic characteristics of the motor, flexible transmitter, and printhead carrier. Also.

It is also possible to transform the system into an adaptive control type system in consideration of parameter fluctuations in the state equation without departing from the spirit of the present invention.

Figure 4 is a block diagram showing the configuration of the operating lid generator of the embodiment shown in Figure 1.

This manipulated variable generator 8ri is one in which the generally used integral type optimization curator's law is applied to a drive system consisting of a motor, a flexible transmitter, and a print head carrier. In other words, the purpose of this system is to change the moving speed of the print head carrier 20 to π:1# by the command (optimal operation amount) 8a to the motor IO, and the purpose is to keep the moving speed of the print head carrier 20 constant. It is to keep it.

The control system of the manipulated variable generator shown in FIG. 4 is constructed as follows. That is, motor rotation @ angle 1 word 1a, motor rotation angular velocity signal 2a, and print head carrier state quantity estimation signal 7
For each of a, the optimum feedback gains (K2) 44, (K3) 45 and (Kl) 43 served by the optimum regulator law, the target speed signal 9a and the state of the print head carrier 20 are estimated by the estimated signal 7a. The error signal 40 indicating the difference between the two values is added together with the signal processed by an integrator 41 and an integral gain 42 to obtain the optimum operation amount 8a of the motor.

〔Effect of the invention〕

As explained above, the print head carrier movement control device of the present invention is effective not only when the print head carrier is in a constant speed state, but also from a stopped state to a constant speed state and from a constant speed state to a stopped state. By giving the motor the optimum operation amount processed by the optimum feedper and fuguin, which are determined by the optimum regulator law, the print head carrier can be moved in a stable state at all times.
@The result is that printing without positional errors can be achieved by giving printing commands at fixed time intervals in a constant speed state.

Furthermore, since the waiting time for the vibration of the flexible transmitter to converge can be eliminated, it is possible to obtain a print head carrier movement control device that provides a printer capable of high-speed printing processing.

[Brief explanation of the drawing]

FIG. 1 shows a practical example of the configuration of the present invention. Figures 2(a) and fb) are a plan view and a front view showing the configuration of the machine part of the embodiment in Figure 1. Figure 3 shows the configuration of the state estimator in the embodiment in Figure 1. FIG. 4 is a block diagram showing the configuration of the operation 1 generator of the embodiment shown in FIG. l・3: Rotation angle detector, 2・4: Rotation angular velocity detector%5
- 6: encoder, 7: state estimator, 8: manipulated variable generator, 9: target signal generator, 10: motor, 20: print head carrier, 21: driven side pulley, 22: motor side pulley. Agent Patent Attorney JJj4. Shin (Genji 2Σ Tei 30 4th @

Claims (1)

[Claims] A printer comprising a motor, a print head carrier, a driving pulley provided on the shaft of the motor, and a driven pulley, the driving pulley and the driven pulley being connected by a flexible transmitter wound around them, a first rotation angle detector and a first rotation angular velocity detector provided on the motor; a second rotation angle detector and a second rotation angular velocity detector provided on the driven pulley; a rotation angle difference signal indicating a difference between a first rotation angle signal obtained from the rotation angle detector and a second rotation angle signal obtained from the second rotation angle detector; and a rotation angle difference signal from the first rotation angular velocity detector. a rotational angular velocity difference signal indicating a difference between the obtained first rotational angular velocity signal and a second rotational angular velocity signal obtained from the second rotational angular velocity detector; a state quantity output device that outputs a state quantity estimation signal by estimating the state quantity of the print head carrier according to a state equation of a drive system consisting of a carrier; and a state quantity estimation signal output from the state quantity estimator and a target. The optimum manipulated variable is processed by inputting the target speed signal output from the signal generator, the first rotation angle signal, and the first rotation angular velocity signal and applying the optimum regulator rule to the drive system with an optimum feedback gain. A control device for controlling the movement of a print head carrier, comprising: a manipulated variable generator that outputs a constant moving speed of the print head carrier.